JP5071670B2 - Mobile walking training machine and walking aid - Google Patents

Description

  The present invention relates to a mobile walking training machine that moves with a trainee to perform walking training. The present invention also relates to a walking assist device that assists a pedestrian in walking.

  Conventionally, as a walking machine, front and rear wheels with variable axle traverse are provided at the lower part of the main body, and an elbow rest is provided at the upper part of the column attached to the main body. The thing provided with the protrusion part which protruded upwards on the outer side is disclosed (for example, refer patent document 1). This is because the user walks forward by placing the elbow and forearm part on the elbow rest and pushing it forward, and when the left or right protrusion is pushed diagonally forward, the walker is horizontal. It is said that the front of the walking machine can be turned to the front and diagonally forward opposite to the pressed protrusion.

In addition, as a conventional gait training machine with omnidirectional movement function, a four-wheel omnidirectional foil with self-propelled power is attached to the bottom, and the gait trainer is powered by a support part of an annular metal pipe An actuator in which an omnidirectional movement function is realized by an actuator is disclosed (for example, see Patent Document 2). Each omnidirectional foil is provided with two rows of eight free rollers (rollers that can rotate freely) around the periphery of the foil, and without changing the wheel axis direction, Directional movement is possible. Moreover, the support part which supports an arm and an elbow is held in the metal pipe of a different radius.
JP-A-2005-118154 JP 2003-62022 A

  However, since the former walking machine is in a free state in which the change of the axle direction and the rolling of the wheel can always freely rotate, when the trainee loses his balance, he falls into the training space in the walking training machine. As a result, the walking training machine has a problem with respect to the posture stability of the training machine itself, such as being unable to maintain the running posture and falling down.

  In the latter type of self-propelled gait training machine with self-propelled power, the trainer may be trapped in the gait training machine due to failure to detect and control that the trainee has lost his balance. He had a problem with emergency response during self-propelled driving, such as falling.

  Therefore, the present invention is a self-propelled walker that moves self-propelled with a trainer or pedestrian by reliably performing emergency control when the trainer or pedestrian loses balance and preventing a fall. It is an object to provide a mobile walking training machine and a walking assistance machine with high safety.

  In order to solve the above problems, the following means (1) to (7) are taken.

(1) The mobile walking training machine of the present invention is provided with a self-propelled device in the main body 1 and self-runs with the trainer standing in the mobile training space in the main body 1 while supporting the upper limbs of the trainer. Is a walking training,
A seat 2 that is provided below the lower back of the trainee in the mobile training space and can support the fallen trainer;
A detection unit 3 for detecting a displacement / inclination / pressurization of the seat 2 by a fallen trainer and generating a detection signal;
And a travel control unit that stops automatic travel or changes the content of automatic travel in accordance with a detection signal from the detection unit 3.

  If it is like this, the trainer who fell out of balance and fell down can be automatically detected and mechanically controlled by the seat 2 state, and the trainer who fell out of balance and fell down, It can be supported in a sitting position, that is, in a sitting state. Thereby, even during the automatic running, emergency control when the trainee falls down can be reliably performed, and safety can be ensured.

  In the above invention, the seat portion 2 can have any shape and structure such as a saddle supported from below by a vertical support rod in addition to a seat cloth supported by suspension as in the embodiments described later. The detection unit 3 may be provided on the seat 2 or the support structure of the seat 2.

  (2) The mobile walking training machine includes a plurality of connection strings 4 that connect the seat part 2 and the main body 1 respectively, and the seat part 2 is suspended in the training area by the connection strings 4 and detected. The part 3 is preferably provided on at least one connecting string 4.

  With such a suspension-type seat 2, the degree of freedom of displacement or inclination by the suspension support can be widely accommodated when the trainee falls, and the fallen trainer can be reliably seated. It is possible to support the abnormality and more reliably detect the abnormality.

  In the above invention, the detection unit 3 is not only a hook-shaped hook sensor provided at the upper end of the connecting string 4 as in the examples described later, but also a tension sensor attached along the length direction of the connecting string 4, It is good.

(3) In any one of the mobile gait training machines,
A forearm holding section 5 with a handle that allows a trainee to hold both forearms in a mobile training space;
Holding position adjusting means 6 for adjusting the holding position by the forearm holding portion 5 at least in the front-rear direction,
It is preferable that the holding position adjusting means 6 can adjust the standing position of the trainee to a range that overlaps the plan view centroid of the mobile training space.

  Still further, the planar view position of the seat portion 2 may be in a range that overlaps with the planar view gravity center position of the entire training machine in the seat support state when the trainee is supported.

  If this is the case, when a fallen trainer is seated and supported, an eccentric load is prevented from being applied to the training machine, and the weight of the fallen trainer overlaps with the center of gravity of the entire training machine in plan view. Can be supported within. In addition, it is possible to secure a state where the posture is stable even when most of the weight of the trainee is concentrated on a part of the region.

(4) In any one of the above-described mobile walking training machines, the forearm holding unit 5 has an elbow rest 51 extending from both sides of the trainee in the mobile training space to the front,
And a grip portion 52 having an integral shape which is fixedly projected upward from the left and right front portions of the elbow rest 51 and the upper ends of the projections are connected to each other.
The mobile walking training machine according to claim 1, wherein the holding position adjusting means 6 is capable of adjusting at least a protruding position of the grip portion 52.

  It is preferable that the grip portion 52 does not have a protrusion due to upward protrusion, and the left and right protrusion fixing portions are integrally configured by mutual connection.

  If this is the case, the forearm holding position can be easily changed by adjusting the protruding position of the holding position adjusting means 6, and the position of the trainee's body in the mobile training space can be held in the posture stable region. .

  In addition, due to the connection of the left and right grip portions 52, an accident caused by the tip portion protruding upward of the grip portion 52, for example, an accident that the trainee who has lost the posture collides with the tip portion protruding upward of the grip portion 52, It is possible to avoid accidents such as clothes falling over and overloading, accidents due to breakage of the tip.

  The grip portion 52 may be composed of a bar-shaped body having an inverted U-shape in front view and projecting obliquely upward and forward on the left and right sides in front of the trainee and having the projecting upper portions connected to each other.

(5) In any one of the above-mentioned mobile walking training machines, a back support bar which is disposed on the back side of the trainer in the mobile training space, that is, on the rear part of the main body 1 and can support the trained trainer back. 8 and
It is preferable that a part of the back support bar 8 can be removed or separated to open and close the rear part of the mobile training space.

  (6) In the mobile gait training machine according to any one of the above, the self-propelled device includes a plurality of omnidirectional foils having a fixed wheel axis direction, and the rotational movement of the omnidirectional foil is controlled by controlling the rotational speed of the omnidirectional foil. It is preferable that the omnidirectional movement in a plan view can be performed without necessarily changing the orientation of the main body 1 due to the above.

  (7) Further, the walking assist device of the present invention is the mobile walking training machine according to any one of the above, wherein the trainer is a pedestrian, the mobile training space is a walking assist space, and the walking training is a walking assist. It is characterized by.

  Note that either of the above mobile walking training machines or walking assistance machines uses the data of self-propelled power output (for example, output voltage in the case of electrical output), wheel rotation speed, and control current data to determine the degree of training achievement and difficulty. It is also possible to analyze various information such as the direction of travel with high degree and high risk. Further, information obtained by the analysis may be output to the display unit 92 or the like, or may be fed back to the subsequent self-running conditions. For example, it is possible to create a database of the degree of training achievement for each movement direction by recording the number of rotations at the time of detection, or to create a database of difficulty of movement training by recording the difference between the self-running rotation number and the actual rotation number .

  The mobile gait training machine of the present invention has the above-described configuration, and the trainer or the pedestrian reliably performs emergency control when the balance is lost to prevent the falls from occurring. It is possible to provide a mobile walking training machine and a walking auxiliary machine that are highly safe while being self-propelled walker that travels with a pedestrian or a pedestrian.

  Preferred embodiments of the present invention will be described below with reference to the drawings shown as examples. The walking training machine according to the embodiment of the present invention is detachably equipped with an anti-falling tool for assisting a walking training machine that includes the seat 2, the detection unit 3, and the connecting string 4. FIG. 1 is a schematic perspective view of the walking training machine according to the first embodiment in a state where the fall prevention tool for assisting the walking training machine is removed. 2, FIG. 3, FIG. 4, and FIG. 13 are a side view, a side view, a rear view, and a plan view, respectively, of the walking training machine of the first embodiment in a state in which the fall prevention tool is attached. 2 and 3 are also explanatory views showing respective use states by a trainer having a short forearm and a trainer having a long forearm, and FIG. 4 is also an explanation showing a rear opening / closing mechanism by the back support bar 8. FIG.

  The fall prevention tool for assisting the walking training machine is configured by combining the seat portion 2, the detection portion 3, and the connecting string 4, and detachably includes the detection portion 3 that detects the abnormal posture of the trainee. FIG.11 and FIG.12 is the top view and bottom view of a fall prevention tool for walking training machine assistance. 5 to 10 are a front view, a rear view, a right side view, a plan view, a bottom view, and a central longitudinal sectional view in side view of the detection unit 3. The left side view is symmetrical to the right side view.

(Configuration of the present invention)
The present invention is a gait training machine that performs gait training with a trainer standing in a mobile training space in the main body 1 while supporting the upper limb of the trainee, and includes at least the following basic configuration.
・ Main body 1 that can move with mobile training space for standing training
-A self-propelled device that is provided inside the main body 1 and that self-propels the main body 1 by means of a plurality of wheels.-A seat that can be used to support a trainee who falls down in the mobile training space. Part 2
A detection unit 3 that is provided in or near the mobile space and detects a displacement / tilt / pressurization of the seat 2 to generate a detection signal.
A travel control unit provided in the main body 1 that stops automatic travel or changes the content of automatic travel in accordance with a detection signal from the detection unit 3

Further, the embodiment has the following configuration in addition to the above configuration.
A plurality of connecting cords 4 arranged around the seat 2 to connect the main body 1 and the seat 2 respectively.
-Forearm holder 5 with a handle that allows the trainer to hold both forearms in the mobile training space.
-Holding position adjusting means 6 for adjusting the holding position by the forearm holding portion 5 at least in the front-rear direction.
A holding height adjusting means 7 for adjusting at least one of the holding height by the forearm holding portion 5 and the hanging height of the seat portion 2.
A back support bar 8 which is arranged on the back side of the trainer in the mobile training space and can support the trained trainer back
A display unit 92 that is arranged facing the trainer side at the upper front side of the trainer in the mobile training space, and displays various information such as traveling content and emergency control operation.
・ Emergency stop button 94 which is arranged facing upward in the upper right of the trainer's front direction in the mobile training space.
A speaker 95 that is arranged facing the trainer at a slightly lower right side in the front direction of the trainer in the mobile training space, and that sounds various information such as running details and emergency control operation.
With the above configuration, the emergency control of the self-propelled device is surely activated by detecting the abnormality of the seat 2 and automatically performing the travel control such as emergency stop, and the trainee who has fallen down can be quickly It is possible to shift to the seat support state and ensure safety. Hereinafter, detailed description will be given for each configuration.

(Main unit 1)
The main body 1 extends from the front and both sides of the lower frame 11, the insertion frame 72 of the holding height adjusting means 77 standing vertically from both front side portions of the lower frame 11, the side and rear from the upper rear portion of the insertion frame 72, A side support pipe 12 that is bent downward and connected to the rear portion of the lower frame 11; a parallel bar that extends from the upper surface of the insertion frame 72 to the information and gently bends in the rearward direction along the side of the mobile training space; A guide pipe 61 is provided. The four corners of the lower frame 11 are provided with four-wheel omnidirectional foils, and each omnidirectional foil is surrounded by a foil cover 10c.

(Seat 2)
The seat 2 is a saddle-shaped, bench-shaped across the left, right, left and right, or at least one of the front, left and right sides. It can be provided in the mobile space by various support structures such as side support.

  In the embodiment, a mobile training area is formed by three connecting strings 4 which are made of a substantially triangular cloth-like seat cloth with rounded corners as shown in FIGS. 11 and 12, and are connected to the front side and both side faces. It is suspended at a position overlapping with the plan view centroid in S. By following the surface freely following and contacting, it is possible to cope with various postures of the trainees to fall, and to absorb the deflection force together with the three-point suspension support mechanism by the connecting string 4. The planar view position of the seat portion 2 is in a range that overlaps with the planar view gravity center position of the entire training machine in the seat support state when the trainee is supported.

(Connecting string 4)
The embodiment has three connecting strings 4 in total at the front and both sides. Each of the three connecting strings 4 of the embodiment is composed of a wide belt stitched to the corner portion of the substantially triangular seat cloth of the embodiment, has a length adjusting mechanism, and a connecting ring is fixed to the tip of the ring. An open / close fixed ring hook is fixed to the connecting ring (FIGS. 11 and 12). This ring hook is hung on a hanging pipe provided in an inverted U-shape at the lower part of the guide pipe 61 of the main body 1, and the front part is attached to the lower connection part of the hook sensor of the detection unit 3. It is suspended in the provided hook hole 32h (FIGS. 2 to 4).

(Detector 3)
The detection unit 3 only needs to detect at least one of various state variations such as compression or expansion from a specified position, horizontal balance deflection, displacement distance, displacement speed, or acceleration. It can be directly detected by a non-contact or displacement / transition sensor provided in the seat or the support structure, or can be detected indirectly by image analysis and ultrasonic response in the main body 1 surrounding the mobile space. It can provide simply by interposing in the connection part of a seat and a support structure, and the connection part of a support structure and the main body 1. FIG. The detection unit 3 is preferably provided on at least one connecting string 4. In the embodiment, the lower part is hook-connected to the upper end of the connecting string 4 on the front side, and the upper part is formed of a hook switch suspended by being locked to the locking part of the main body 1.

(Hook switch)
In the hook switch, a box-shaped upper coupling portion having a hook 31f at the upper end and a box-shaped lower coupling portion having a hook hole 32h at the lower end are inserted and fitted in the vertical direction so that they can be mutually displaced up and down. To be combined. In the combined state, a displacement space between both parts is formed. The displacement space has a box-type top plate at the upper connection part as the bottom and a box-type top plate at the lower connection part as the ceiling, and when the combined parts are moved away from each other, the height of the displacement space becomes low. When they are close to each other, the height of the displacement space increases.

  In the displacement space, a compression operation switch 33 is fixed to the box-shaped upper surface plate of the upper connection portion, and is operated by upward compression by the ceiling portion of the lower connection portion from above. Although omitted in FIG. 10, a coil spring extending in the vertical direction is provided in the displacement space, and the condition for starting the variation of the height of the displacement space can be limited when an external force of a predetermined value or more is applied. Accordingly, for example, a threshold value for starting fluctuation of 2 to 30 kgf is mechanically provided, and malfunction due to a minute external force can be prevented.

  The combined upper and lower connecting portions 31 and 32 are connected by a connecting pin 34 penetrating horizontally. The connecting pin 34 is inserted into a pin fixing hole provided in the lower connecting portion 32 and a displacement hole 34 h formed in the upper connecting portion 31 that is a long hole extending in the displacement direction. The relative displacement direction and the maximum displacement amount of the upper and lower connection portions 31 and 32 are limited by the connection pin 34 and the displacement hole 34h. The connecting pin 34 is fixed to the lower connecting portion by the pin fixing hole and moves in the vertical displacement direction in the displacement hole.

  The box-shaped bottom plate of the upper connecting portion 31 is provided with an insertion hole 31 h for inserting the transmission line 93 of the compression operation switch 33.

(Forearm holding part 5)
The forearm holding unit 5 is an elbow rest 51 provided so that a fixed position can be adjusted in the front-rear direction from both sides of the trainee in the mobile training space to the front,
It has a grip portion 52 having an integral shape which is fixedly projected upward from the respective left and right front portions of the elbow rest 51 and whose projecting upper ends are connected to each other. In the embodiment, an elbow rest fixing part having an insertion structure is provided.

  The elbow rest fixing portion extends in the front-rear direction at both side edges of the mobile training space and fixes the elbow rest 51 so as to be relaxed by an insertion structure with the elbow rest 51.

  The grip portion 52 does not have a protrusion due to upward protrusion, and the left and right protrusion fixing portions are integrally formed by connecting each other, so that the trainee may be stuck or caught when leaning. Is low and excellent in safety.

  If this is the case, the forearm holding position can be easily changed by adjusting the protruding position of the holding position adjusting means 6, and the position of the trainee's body in the mobile training space can be held in the posture stable region. .

  In addition, due to the connection of the left and right grip portions 52, an accident caused by the tip portion protruding upward of the grip portion 52, for example, an accident that the trainee who has lost the posture collides with the tip portion protruding upward of the grip portion 52, It is possible to avoid accidents such as clothes falling over and overloading, accidents due to breakage of the tip.

  The grip portion 52 may be composed of a bar-shaped body having an inverted U-shape in front view and projecting obliquely upward and forward on the left and right sides in front of the trainee and having the projecting upper portions connected to each other.

  The elbow rest 51 is a horizontal plate that is substantially U-shaped in plan view across both sides and the front of the mobile training space, and a buffer plate that cushions the trainer's forearm against the surface excluding the front center. 52p51p is stuck and fixed. Further, the insertion frames 62 of the holding position adjusting means 6 are respectively fixed to be lowered at the front and rear positions one by one. Side support portions bent downward are fixed so as to connect the insertion frames 62 provided one by one at the front and rear positions.

(Back support bar 8)
The back support bar 8 is disposed on the back side of the trainee in the mobile training space, and can support the trained trainer back. A part of the back support bar 8 can be removed or separated to open and close the rear part of the mobile training space. Specifically, one end is fixed to one guide pipe 61 as a pivot shaft 81 and the other end is detachably connected to the other guide pipe 61 by a connecting hook 82. One end is fixed to a guide pipe 61 on one side by a pivot shaft 81 so as to be rotatable about the guide pipe 61 axis. The connecting hook 82 is detachable by a fitting recess shape along the outer peripheral shape of the guide pipe 61.

(Holding position adjusting means 6)
The holding position adjusting means 6 is capable of adjusting at least the protruding position of the grip portion 52, and more specifically, adjusting the entire holding position by the forearm holding portion 5 in the front-rear direction. By the holding position adjusting means 6, the trainer's standing position is close to the center of the mobile training space S and in a range where the centroid position of the mobile training space S and the trunk of the trainer overlap in plan view. Can be adjusted. Furthermore, the position of the trainee can be adjusted by the holding position adjusting means 6 so as to overlap the position of the center of gravity of the entire training machine in plan view. If the trainer's trunk is in a range that overlaps the center of gravity of the entire training machine in plan view, large fluctuations in the position of the center of gravity due to the weight of the trainee can be suppressed. In other words, by ensuring the position of the trainer's trunk in a normal training posture within a plane area that overlaps the center of gravity of the entire plane of the training machine, the eccentric weight is applied to the training machine by the weight of the trainee who has fallen. This can be prevented and the training machine can be prevented from falling in an emergency.

  For example, in the case of a trainer with a long forearm, the holding position by the forearm holding unit 5 is adjusted forward, and in the case of a trainee with a short forearm, the holding position by the forearm holding unit 5 is adjusted backward (FIGS. 2 and 2). 3). Thereby, the position of the trainee's elbow is adjusted to a range that overlaps the position of the center of gravity of the side view of the entire training machine.

(Holding height adjusting means 7)
The holding height adjusting means 7 is inserted into a pair of left and right insertion frames 72 that extend vertically upward from corners on both front sides of the lower frame 11 by inserting an extension portion of the guide pipe 61 in front of the training space. Guide pipe 61 and a fixing screw 73 for fixing the adjusted height of the guide pipe 61. By adjusting the upper horizontal part of the guide pipe 61 with the insertion mechanism by the insertion frame 72, the height of the forearm holding part 5 and the hanging height of the seat part 2 can be adjusted simultaneously.

(About travel control)
When the detection signal of the detection unit 3 is continuously sent for a predetermined set time, it is determined that an emergency has occurred and traveling control is performed. For example, the condition of the travel control command is that the detection signal is continuously transmitted for 0.5 to 1 second or more. This is to avoid an erroneous operation of the travel control due to a malfunction of the detection unit 3 due to a short-time contact load.

  In the embodiment, the travel control is an emergency stop of the wheel shaft of the omnidirectional foil by the operation of the emergency stop motor. In addition, an emergency stop by forcibly turning off the power supply or an emergency stop by mechanical wheel locking may be performed. Further, the moving speed may be gradually decreased to stop gently, or the moving speed may be slightly moved in the opposite moving direction to stop.

  Various emergency controls are performed along with the travel control based on a continuous detection signal during a predetermined set time. In this embodiment, an alarm sound is emitted from the speaker 9595 provided at the lower front side, and an emergency stop is displayed on the display unit 9292 provided at the upper front side.

  Other emergency controls include lighting or blinking of warning light, wireless communication to a preset server or terminal, and image capturing operation using a previously loaded or installed camera. As the mechanical operation of the main body 1, the holding height of the guide pipe 61 may be lowered at a slow speed by the automatic operation of the holding height adjusting means 7. Accordingly, the height of the center of gravity of the trainee who has lost the balance is lowered by lowering the height of the forearm fixture fixed to the guide pipe 61 and the suspension height of the seat 2 suspended and fixed to the guide pipe 61. The fall can be prevented to prevent falling.

(Emergency information feedback)
Note that either of the above mobile walking training machines or walking assistance machines uses the data of self-propelled power output (for example, output voltage in the case of electrical output), wheel rotation speed, and control current data to determine the degree of training achievement and difficulty. It is also possible to analyze various information such as the direction of travel with high degree and high risk. Further, information obtained by the analysis may be output to the display unit 92 or the like, or may be fed back to the subsequent self-running conditions. For example, it is possible to create a database of the degree of training achievement for each moving direction by recording the number of rotations at the time of detection, or to create a database of difficulty of movement training by recording the difference between the self-running number of rotations and the actual number of rotations. .

(Self-propelled device)
The self-propelled device includes a plurality of four-wheeled omnidirectional foils whose wheel axial directions are fixed, and a drive mechanism that controls and drives the rotational speed of the omnidirectional foils. By controlling the rotational speed of the omnidirectional foil, it is possible to perform omnidirectional movement in a plan view without rotational movement.

(Omnidirectional foil)
Each of the omnidirectional foils is composed of two rows of foil frames fixed to each other that can be rotated by a substantially horizontal rotation axis, and holds a plurality of free rollers 10f so as to be freely rotatable along the periphery of each foil frame.

  In the traveling device of the present invention, the four-wheeled omni foil is disposed in the lower portion of the main body 1 with the axial direction fixed. As shown in FIG. 13, the axial direction of the four wheels is an oblique four-round direction centered on the training space in plan view. The wheel shaft of each omni foil is rotationally controlled by electric power. The free roller 10f is a barrel-shaped rolling body that freely rotates by a shaft fixed along the circumference of the foil frame.

(Usage example)
The walking training machine of the present invention can also be used as a rehabilitation instrument used by, for example, a lower limb paralyzed person for functional recovery of the lower limbs. In rehabilitation, the trainer is supported while standing in the training space by placing the trainer's forearm on the forearm holder 5 and gripping the handle. The exercise therapy is performed by selecting from a plurality of treatment courses shown on the operation panel (FIGS. 4 and 13). Each treatment course is output in a predetermined order or at random, such as the number of operations, speed, moving direction, and the like. The walking recovery training is performed by moving training in a preset speed and direction according to the recovery degree of the patient at the standing treatment position.

(Use as walking aid)
In the mobile walking training machine, the trainer can be a pedestrian, the mobile training space can be a walking assist space, and walking training can be a walking assist.

  In addition to being used as a training device for human lower limbs, it can also be used as a walking assist device for humans and biped robots, or as an emergency bearing device for transporting / moving precision machines. The present invention can be used as an omnidirectional mobile device equipped with a gantry, particularly as an omnidirectional mobile body for carrying precision parts that require smooth running or for walking training.

In the walking training machine of Example 1 of this invention, the perspective outline figure of the state which removed the seat part 2, the detection part 3, and the connection string 4. FIG. Side view use state explanatory drawing by the trainer with a short forearm part of the walking training machine of Example 1. FIG. Side view use state explanatory drawing by the trainer with a long forearm part of the walking training machine of Example 1. FIG. The back view explanatory drawing which shows the walking training machine of Example 1. FIG. The front view of the detection part 3 in the walking training machine of Example 1. FIG. The rear view of the detection part 3 in the walking training machine of Example 1. FIG. The right view of the detection part 3 in the walking training machine of Example 1 (the left appears symmetrically). The top view of the detection part 3 in the walking training machine of Example 1. FIG. The bottom view of the detection part 3 in the walking training machine of Example 1. FIG. Side surface sectional view explanatory drawing of the detection part 3 shown in FIG. The top view of the seat part 2, the detection part 3, and the connection string 4 in the walking training machine of Example 1. FIG. The bottom view of the seat part 2, the detection part 3, and the connection string 4 in the walking training machine of Example 1. FIG. The top view of the walking training machine of Example 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body 11 Lower frame 12 Side support pipe 2 Seat part 3 Detection part (hook switch)
31 Upper connection part 32 Lower connection part 4 Connection string 5 Forearm holding part 51 Elbow rest 51p Buffer plate 52 Grip part 53 Side support part 6 Holding position adjusting means 61 Guide pipe 62 Insertion frame 63 Fixing screw 7 Holding height adjusting means 72 Insertion Frame 73 Fixing screw 8 Back support bar 91 Front plate 92 Display section 93 Transmission line 94 Emergency stop button 95 Speaker 10 Omni-directional wheel 10f Free roller 10c Wheel cover S Mobile training space

Claims (7)

  A walking training machine that conducts walking training by placing the trainer in a mobile training space in the main body while supporting the upper limbs of the trainer, and a self-propelled device that self-runs the main body with multiple wheels, and movement A seat that is provided below the lower back of the trainee in the training space and that can support the trainee who falls down, and a detector that detects a displacement / tilt / pressurization of the seat and generates a detection signal; And a traveling control unit for stopping the automatic traveling or changing the content of the automatic traveling according to the detection signal of the detecting unit.   2. A plurality of connecting strings that respectively connect the main body and the seat part, the seat part is suspended in the training area by these connecting strings, and the detection unit is provided on at least one connecting string. The described mobile walking training machine.   A forearm holding part with a handle that allows a trainee to hold both forearms in a mobile training space, and holding position adjusting means for adjusting the holding position by the forearm holding part at least in the front-rear direction. The mobile gait training machine according to claim 1, wherein the standing position of the trainee can be adjusted by the adjusting means so as to overlap with a plan view centroid of the mobile training space.   The forearm holding unit is an elbow rest that extends from both sides of the trainer in the mobile training space to the front, and the upper end of each of the elbow rest that is fixed upward, and the projecting upper ends are connected together. 4. The mobile walking training according to claim 1, wherein the holding position adjusting means is capable of adjusting at least a protruding position of the grip portion. Machine.   The back support bar is arranged on the back side of the trainer in the mobile training space and can support the trained trainer, and a part of the back support bar is removed or The mobile walking training machine according to any one of claims 1, 2, 3 and 4, wherein the rear part of the mobile training space can be opened and closed by separating.   The self-propelled device is composed of a plurality of omnidirectional foils whose wheel axis directions are fixed, and can perform omnidirectional movement in a plan view by controlling the rotational speed of the omnidirectional foil. The mobile walking training machine according to any one of the above. The mobile walking training machine according to any one of claims 1, 2, 3, 4, 5, or 6, wherein the trainer is a pedestrian, the mobile training space is a walking assist space, and the walking training is a walking assist. This is a walking aid.

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